
% Contact identification for only 1 vertex va against all faces of B
function C = conf_vertex_faces( A,B, va_index, fb_index, eps_vf )

    C = [];
    va = A.verts_world(va_index,:); 
    fb = B.faces(fb_index,:); 

    % FEASibility
    %if feasibility_vf(A,B,va_index,fb_index,eps_vf)

      % APPlicability
      %APPab = applicability_vf(A,B,va_index,fb_index);
      %if APPab > -.3
          % Add contact
          n = B.face_norms(fb_index,:);  
          psi = dot3( n, va - B.verts_world(fb(1),:));
          c = Contact(A.bodyID, B.bodyID, va, -n, psi);
          c.f1id = va_index;
          c.f2id = fb_index;
          %c.applicability = APPab; 
          c.type = 'vf';  % 1 => vertex-face
          C = [C c]; 
      %end
    %end

end

